using System;
using System.Collections.Generic;
using System.Text;
using LocalizationTest.Tools;
using System.Drawing;

namespace LocalizationTest
{
  public class Experiment2DDistanceSensor : Experiment
  {
    public Experiment2DDistanceSensor()
    {
      Globals.Init(this);

      map = new MapWithLandmarks(MapWithLandmarks.MapType.lighthouses);
      motionModel = new MotionModel2D();
      sensors = new List<Sensor>();
      sensors.Add(new DistanceSensorAmbiguous(MapWithLandmarks.LandMarkClasses.flag));
//      sensors.Add(new DistanceSensor(MapWithLandmarks.LandmarkIDs.opponentRightGoalPost));
//      sensors.Add(new DistanceSensor(MapWithLandmarks.LandmarkIDs.centerLeftFlag));

      typeOfActionDescription = typeof(ContinuousAction2D);

      actionAndObservationHistory = new ActionAndObservationHistory();
      simulatedWorldState = new WorldState2D(Globals.stateSpaceInitialX, Globals.stateSpaceInitialY);
    }
  }
}
